#ifndef _BALANCE_H_
#define _BALANCE_H_
void GyroOffset_init(void (*pfun)(void),float *gyrOX,float *gyrOY,float *gyrOZ);
void Balance_Init(void);
void Balance_GetVal(void);

void Balance_calculation(void);
void Get_MAG(void);


void yijiehubo_pitch(float acc_x, float acc_z,float gy_m);
void yijiehubo_roll(float acc_y, float acc_z,float gx_m);
extern BMX055Datatypedef       BMX055Data;
extern EulerAngleTypedef       SystemAttitude;

extern AttitudeDatatypedef     GyroOffset;
//#define SHANGJIAODA 1
#endif
